Calcs for balancing with mechanical gyro

Hi all,

I'm trying to find some simulation software to help guide me in a project I'm using to teach kids about the stabilisation capabilities of (mechanical) gyroscopes. Essentially I want to plug in some values - gyro mass, angular velocity, etc. and determine how much force (ie. based on height/mass of a robotic leg) it can help keep balanced. Keeping it simple, define "robotic leg" as a simple stick 😁

I thought I could calc torque of a balanced "leg" (pivot point on ground) and compare that to the angular velocity of the gyro but think I'm starting to mix units 😀

I know I'm missing some terminology here... any pointers to software or calcs that might help.

Any tips greatly appreciated!